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<a href="#pub-types">Public 类型</a> &#124;
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<div class="title">pcl::FeatureWithLocalReferenceFrames&lt; PointInT, PointRFT &gt; 模板类 参考</div>  </div>
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<p><a class="el" href="classpcl_1_1_feature_with_local_reference_frames.html" title="FeatureWithLocalReferenceFrames provides a public interface for descriptor extractor classes which ne...">FeatureWithLocalReferenceFrames</a> provides a public interface for descriptor extractor classes which need a local reference frame at each input keypoint.  
 <a href="classpcl_1_1_feature_with_local_reference_frames.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="feature_8h_source.html">feature.h</a>&gt;</code></p>
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typedef <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; PointRFT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudLRF</b></td></tr>
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typedef PointCloudLRF::Ptr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudLRFPtr</b></td></tr>
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typedef PointCloudLRF::ConstPtr&#160;</td><td class="memItemRight" valign="bottom"><b>PointCloudLRFConstPtr</b></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature_with_local_reference_frames.html#aae1b8e90edb0dbb4a290f59a1c282908">FeatureWithLocalReferenceFrames</a> ()</td></tr>
<tr class="memdesc:aae1b8e90edb0dbb4a290f59a1c282908"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:a28f22d4458108e3fc08f249f1563c9ef"><td class="memItemLeft" align="right" valign="top"><a id="a28f22d4458108e3fc08f249f1563c9ef"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature_with_local_reference_frames.html#a28f22d4458108e3fc08f249f1563c9ef">~FeatureWithLocalReferenceFrames</a> ()</td></tr>
<tr class="memdesc:a28f22d4458108e3fc08f249f1563c9ef"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty destructor. <br /></td></tr>
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<tr class="memitem:a88e05490c1db062dda72504d2e64fd63"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature_with_local_reference_frames.html#a88e05490c1db062dda72504d2e64fd63">setInputReferenceFrames</a> (const PointCloudLRFConstPtr &amp;frames)</td></tr>
<tr class="memdesc:a88e05490c1db062dda72504d2e64fd63"><td class="mdescLeft">&#160;</td><td class="mdescRight">Provide a pointer to the input dataset that contains the local reference frames of the XYZ dataset. In case of search surface is set to be different from the input cloud, local reference frames should correspond to the input cloud, not the search surface!  <a href="classpcl_1_1_feature_with_local_reference_frames.html#a88e05490c1db062dda72504d2e64fd63">更多...</a><br /></td></tr>
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PointCloudLRFConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature_with_local_reference_frames.html#a2b8721b333f2845bdfe8d7ee51aab2fc">getInputReferenceFrames</a> () const</td></tr>
<tr class="memdesc:a2b8721b333f2845bdfe8d7ee51aab2fc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get a pointer to the local reference frames. <br /></td></tr>
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Protected 类型</h2></td></tr>
<tr class="memitem:afd45c82ad4414fc120364f7c4d248e41"><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classpcl_1_1_feature.html">Feature</a>&lt; PointInT, PointRFT &gt;::Ptr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature_with_local_reference_frames.html#afd45c82ad4414fc120364f7c4d248e41">LRFEstimationPtr</a></td></tr>
<tr class="memdesc:afd45c82ad4414fc120364f7c4d248e41"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if frames_ has been correctly initialized and compute it if needed.  <a href="classpcl_1_1_feature_with_local_reference_frames.html#afd45c82ad4414fc120364f7c4d248e41">更多...</a><br /></td></tr>
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Protected 成员函数</h2></td></tr>
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virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>initLocalReferenceFrames</b> (const size_t &amp;indices_size, const <a class="el" href="classpcl_1_1_feature_with_local_reference_frames.html#afd45c82ad4414fc120364f7c4d248e41">LRFEstimationPtr</a> &amp;lrf_estimation=<a class="el" href="classpcl_1_1_feature_with_local_reference_frames.html#afd45c82ad4414fc120364f7c4d248e41">LRFEstimationPtr</a>())</td></tr>
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Protected 属性</h2></td></tr>
<tr class="memitem:a0c278f5c08c3311267776b670bd0bb80"><td class="memItemLeft" align="right" valign="top"><a id="a0c278f5c08c3311267776b670bd0bb80"></a>
PointCloudLRFConstPtr&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature_with_local_reference_frames.html#a0c278f5c08c3311267776b670bd0bb80">frames_</a></td></tr>
<tr class="memdesc:a0c278f5c08c3311267776b670bd0bb80"><td class="mdescLeft">&#160;</td><td class="mdescRight">A boost shared pointer to the local reference frames. <br /></td></tr>
<tr class="separator:a0c278f5c08c3311267776b670bd0bb80"><td class="memSeparator" colspan="2">&#160;</td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_feature_with_local_reference_frames.html#ae98fabb9e51dba477a0968961f16645d">frames_never_defined_</a></td></tr>
<tr class="memdesc:ae98fabb9e51dba477a0968961f16645d"><td class="mdescLeft">&#160;</td><td class="mdescRight">The user has never set the frames. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename PointInT, typename PointRFT&gt;<br />
class pcl::FeatureWithLocalReferenceFrames&lt; PointInT, PointRFT &gt;</h3>

<p><a class="el" href="classpcl_1_1_feature_with_local_reference_frames.html" title="FeatureWithLocalReferenceFrames provides a public interface for descriptor extractor classes which ne...">FeatureWithLocalReferenceFrames</a> provides a public interface for descriptor extractor classes which need a local reference frame at each input keypoint. </p>
<dl class="section attention"><dt>注意</dt><dd>This interface is for backward compatibility with existing code and in the future it could be merged with <a class="el" href="classpcl_1_1_feature.html" title="Feature represents the base feature class. Some generic 3D operations that are applicable to all feat...">pcl::Feature</a>. Subclasses should call the protected method initLocalReferenceFrames () to correctly initialize the frames_ member.</dd></dl>
<dl class="section author"><dt>作者</dt><dd>Nicola Fioraio </dd></dl>
</div><h2 class="groupheader">成员类型定义说明</h2>
<a id="afd45c82ad4414fc120364f7c4d248e41"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afd45c82ad4414fc120364f7c4d248e41">&#9670;&nbsp;</a></span>LRFEstimationPtr</h2>

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<div class="memtemplate">
template&lt;typename PointInT , typename PointRFT &gt; </div>
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          <td class="memname">typedef <a class="el" href="classpcl_1_1_feature.html">Feature</a>&lt;PointInT, PointRFT&gt;::Ptr <a class="el" href="classpcl_1_1_feature_with_local_reference_frames.html">pcl::FeatureWithLocalReferenceFrames</a>&lt; PointInT, PointRFT &gt;::<a class="el" href="classpcl_1_1_feature_with_local_reference_frames.html#afd45c82ad4414fc120364f7c4d248e41">LRFEstimationPtr</a></td>
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<p>Check if frames_ has been correctly initialized and compute it if needed. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">input</td><td>the subclass' input cloud dataset. </td></tr>
    <tr><td class="paramname">lrf_estimation</td><td>a pointer to a local reference frame estimation class to be used as default. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>true if frames_ has been correctly initialized. </dd></dl>

</div>
</div>
<h2 class="groupheader">成员函数说明</h2>
<a id="a88e05490c1db062dda72504d2e64fd63"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a88e05490c1db062dda72504d2e64fd63">&#9670;&nbsp;</a></span>setInputReferenceFrames()</h2>

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template&lt;typename PointInT , typename PointRFT &gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1_feature_with_local_reference_frames.html">pcl::FeatureWithLocalReferenceFrames</a>&lt; PointInT, PointRFT &gt;::setInputReferenceFrames </td>
          <td>(</td>
          <td class="paramtype">const PointCloudLRFConstPtr &amp;&#160;</td>
          <td class="paramname"><em>frames</em></td><td>)</td>
          <td></td>
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<p>Provide a pointer to the input dataset that contains the local reference frames of the XYZ dataset. In case of search surface is set to be different from the input cloud, local reference frames should correspond to the input cloud, not the search surface! </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">frames</td><td>the const boost shared pointer to a <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> of reference frames. </td></tr>
  </table>
  </dd>
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<div class="fragment"><div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;      {</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;        <a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html#a0c278f5c08c3311267776b670bd0bb80">frames_</a> = frames;</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;        <a class="code" href="classpcl_1_1_feature_with_local_reference_frames.html#ae98fabb9e51dba477a0968961f16645d">frames_never_defined_</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_feature_with_local_reference_frames_html_a0c278f5c08c3311267776b670bd0bb80"><div class="ttname"><a href="classpcl_1_1_feature_with_local_reference_frames.html#a0c278f5c08c3311267776b670bd0bb80">pcl::FeatureWithLocalReferenceFrames::frames_</a></div><div class="ttdeci">PointCloudLRFConstPtr frames_</div><div class="ttdoc">A boost shared pointer to the local reference frames.</div><div class="ttdef"><b>Definition:</b> feature.h:482</div></div>
<div class="ttc" id="aclasspcl_1_1_feature_with_local_reference_frames_html_ae98fabb9e51dba477a0968961f16645d"><div class="ttname"><a href="classpcl_1_1_feature_with_local_reference_frames.html#ae98fabb9e51dba477a0968961f16645d">pcl::FeatureWithLocalReferenceFrames::frames_never_defined_</a></div><div class="ttdeci">bool frames_never_defined_</div><div class="ttdoc">The user has never set the frames.</div><div class="ttdef"><b>Definition:</b> feature.h:484</div></div>
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